lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Reformat from tabs to spaces; no code changes.

Browse Source
This commit is contained in:
Ron Sluiter
2015-03-13 19:11:14 +00:00
parent 6a6a34ebe5
commit fc2b02582e
2 changed files with 196 additions and 199 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/SoftMotorSrc/devSoft.cc
+132 -130
View File
@@ -1,6 +1,6 @@
/*
FILENAME... devSoft.cc
USAGE... Motor record device level support for Soft channel.
FILENAME... devSoft.cc
USAGE... Motor record device level support for Soft channel.
Version: $Revision$
Modified By: $Author$
@@ -28,55 +28,57 @@ HeadURL: $URL$
* -----------------
*
* .00 02-06-02 rls - Don't process from events unless interruptAccept is TRUE.
* - When done transitions from false to true it is not
* communicated to the motor record until after the last
* readback update.
* - In soft_process(), call dbProcess() instead of directly
* calling motor record's process().
* - In soft_rdbl_func(), reset motor record's target to actual
* position after last readback if motion was not initiated
* by this record.
* - When done transitions from false to true it is not
* communicated to the motor record until after the last
* readback update.
* - In soft_process(), call dbProcess() instead of directly
* calling motor record's process().
* - In soft_rdbl_func(), reset motor record's target to actual
* position after last readback if motion was not initiated
* by this record.
* .01 10-29-02 rls - LOCK field added to prevent synchronization due to
* changing readback.
* changing readback.
* .02 06-16-03 rls Convert to R3.14.x.
* .03 08-03-05 rls - Added debug messages.
* - Fix compiler error with "gcc version 3.4.2 20041017 (Red
* Hat 3.4.2-6.fc3)".
* - Fix compiler error with "gcc version 3.4.2 20041017 (Red
* Hat 3.4.2-6.fc3)".
*/
/*
NOTES...
- Can't call CA functions until after dbLockInitRecords() has
been called and initialized lock sets.
- Can't call CA functions until after dbLockInitRecords() has been called and initialized lock sets.
*/
#include <dbDefs.h>
#include <dbFldTypes.h>
#include <dbAccess.h>
#include <dbEvent.h>
#include <recSup.h>
#include <dbDefs.h>
#include <dbFldTypes.h>
#include <dbAccess.h>
#include <dbEvent.h>
#include <recSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "devSoft.h"
#include "motorRecord.h"
#include "motor.h"
#include "devSoft.h"
#include "epicsExport.h"
#include "errlog.h"
#include "epicsExport.h"
#include "errlog.h"
/*----------------debugging-----------------*/
volatile int devSoftdebug = 0;
extern "C" {epicsExportAddress(int, devSoftdebug);}
static inline void Debug(int level, const char *format, ...) {
#ifdef DEBUG
if (level < devSoftdebug) {
va_list pVar;
va_start(pVar, format);
vprintf(format, pVar);
va_end(pVar);
extern "C"
{epicsExportAddress(int, devSoftdebug);}
static inline void Debug(int level, const char *format, ...)
{
#ifdef DEBUG
if (level < devSoftdebug)
{
va_list pVar;
va_start(pVar, format);
vprintf(format, pVar);
va_end(pVar);
}
#endif
#endif
}
static CALLBACK_VALUE update(struct motorRecord *);
@@ -95,7 +97,7 @@ struct motor_dset devMotorSoft =
end
};
extern "C" {epicsExportAddress(dset,devMotorSoft);}
extern "C" {epicsExportAddress(dset, devMotorSoft);}
static CALLBACK_VALUE update(struct motorRecord *mr)
{
@@ -105,9 +107,9 @@ static CALLBACK_VALUE update(struct motorRecord *mr)
#ifdef DMR_SOFTMOTOR_MODS
if (ptr->load_position)
{
mr->rmp = ptr->new_position;
mr->rep = ptr->new_position;
ptr->load_position = FALSE;
mr->rmp = ptr->new_position;
mr->rep = ptr->new_position;
ptr->load_position = FALSE;
}
#endif
@@ -117,13 +119,13 @@ static CALLBACK_VALUE update(struct motorRecord *mr)
if (ptr->dinp_value == SOFTMOVE || ptr->dinp_value == HARDMOVE)
{
Debug(5, "update(): DMOV=0 for %s.\n", mr->name);
status.Bits.RA_DONE = 0;
Debug(5, "update(): DMOV=0 for %s.\n", mr->name);
status.Bits.RA_DONE = 0;
}
else
{
Debug(5, "update(): DMOV=1 for %s.\n", mr->name);
status.Bits.RA_DONE = 1;
Debug(5, "update(): DMOV=1 for %s.\n", mr->name);
status.Bits.RA_DONE = 1;
}
mr->msta = status.All;
return(ptr->callback_flag);
@@ -142,11 +144,11 @@ static RTN_STATUS end(struct motorRecord *mr)
if (ptr->default_done_behavior == YES)
{
msta_field status;
msta_field status;
status.All = 0;
status.Bits.RA_DONE = 1;
mr->msta = status.All;
status.All = 0;
status.Bits.RA_DONE = 1;
mr->msta = status.All;
}
return(OK);
}
@@ -159,38 +161,38 @@ static RTN_STATUS build(motor_cmnd command, double *parms, struct motorRecord *m
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
status = dbPutLink(&mr->out, DBR_DOUBLE, &mr->dval, 1);
break;
case MOVE_ABS:
case MOVE_REL:
status = dbPutLink(&mr->out, DBR_DOUBLE, &mr->dval, 1);
break;
case STOP_AXIS:
status = dbPutLink(&mr->stoo, DBR_SHORT, &stop, 1);
break;
case STOP_AXIS:
status = dbPutLink(&mr->stoo, DBR_SHORT, &stop, 1);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
status = OK;
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
status = OK;
break;
case LOAD_POS:
{
struct soft_private *ptr = (struct soft_private *) mr->dpvt;
msta_field msta;
case LOAD_POS:
{
struct soft_private *ptr = (struct soft_private *) mr->dpvt;
msta_field msta;
#ifdef DMR_SOFTMOTOR_MODS
ptr->load_position = TRUE;
ptr->new_position = *parms;
ptr->load_position = TRUE;
ptr->new_position = *parms;
#endif
msta.All = 0;
msta.Bits.RA_DONE = 1;
mr->msta = msta.All;
callbackRequest(&ptr->callback);
}
break;
msta.All = 0;
msta.Bits.RA_DONE = 1;
mr->msta = msta.All;
callbackRequest(&ptr->callback);
}
break;
default:
status = ERROR;
default:
status = ERROR;
}
return(status == 0 ? OK : ERROR);
}
@@ -198,24 +200,24 @@ static RTN_STATUS build(motor_cmnd command, double *parms, struct motorRecord *m
/*
FUNCTION... void soft_dinp_func(struct motorRecord *, short)
USAGE... Update soft channel device input links and
USAGE... Update soft channel device input links and
process soft channel motor record when done moving.
LOGIC...
IF DINP link value is FALSE.
IF this soft motor's DMOV is FALSE.
This is a soft motor initiated move.
Set SOFTMOVE indicator.
ELSE IF LOCK field set to NO.
This is NOT a soft motor initiated move.
Set HARDMOVE indicator.
Set soft motor's DMOV FALSE.
Set PostProcess (PP) TRUE.
ENDIF
IF this soft motor's DMOV is FALSE.
This is a soft motor initiated move.
Set SOFTMOVE indicator.
ELSE IF LOCK field set to NO.
This is NOT a soft motor initiated move.
Set HARDMOVE indicator.
Set soft motor's DMOV FALSE.
Set PostProcess (PP) TRUE.
ENDIF
ELSE
IF DINP state is HARDMOVE.
Set PostProcess (PP) True.
Set DINP state to DONE.
Process soft channel record.
IF DINP state is HARDMOVE.
Set PostProcess (PP) True.
Set DINP state to DONE.
Process soft channel record.
ENDIF
*/
void soft_dinp_func(struct motorRecord *mr, short newdinp)
@@ -223,33 +225,33 @@ void soft_dinp_func(struct motorRecord *mr, short newdinp)
struct soft_private *ptr = (struct soft_private *) mr->dpvt;
if (interruptAccept != TRUE)
return;
return;
/* Test for hard motor started moving or initialization. */
if (newdinp == 0)
{
if (mr->dmov == FALSE)
{
Debug(5, "soft_dinp_func(): SOFTMOVE set for %s.\n", mr->name);
ptr->dinp_value = SOFTMOVE;
}
else if (mr->lock == menuYesNoNO)
{ /* Hard motor is moving independent of soft motor. */
Debug(5, "soft_dinp_func(): HARDMOVE set for %s.\n", mr->name);
ptr->dinp_value = HARDMOVE;
mr->dmov = FALSE;
db_post_events(mr, &mr->dmov, DBE_VAL_LOG);
mr->pp = TRUE;
db_post_events(mr, &mr->pp, DBE_VAL_LOG);
}
if (mr->dmov == FALSE)
{
Debug(5, "soft_dinp_func(): SOFTMOVE set for %s.\n", mr->name);
ptr->dinp_value = SOFTMOVE;
}
else if (mr->lock == menuYesNoNO)
{ /* Hard motor is moving independent of soft motor. */
Debug(5, "soft_dinp_func(): HARDMOVE set for %s.\n", mr->name);
ptr->dinp_value = HARDMOVE;
mr->dmov = FALSE;
db_post_events(mr, &mr->dmov, DBE_VAL_LOG);
mr->pp = TRUE;
db_post_events(mr, &mr->pp, DBE_VAL_LOG);
}
}
else /* Hard motor is done moving. */
else /* Hard motor is done moving. */
{
if (ptr->dinp_value == HARDMOVE)
mr->pp = TRUE;
ptr->dinp_value = DONE;
Debug(5, "soft_dinp_func(): Done moving set for %s.\n", mr->name);
soft_process(mr); /* Process in case there is no readback callback. */
if (ptr->dinp_value == HARDMOVE)
mr->pp = TRUE;
ptr->dinp_value = DONE;
Debug(5, "soft_dinp_func(): Done moving set for %s.\n", mr->name);
soft_process(mr); /* Process in case there is no readback callback. */
}
}
@@ -257,50 +259,50 @@ void soft_dinp_func(struct motorRecord *mr, short newdinp)
void soft_rinp_func(struct motorRecord *mr, long newrinp)
{
if (interruptAccept != TRUE)
return;
return;
mr->rmp = newrinp;
soft_process(mr);
}
void soft_rdbl_func(struct motorRecord *mr, double newrdbl)
{
{
struct soft_private *ptr = (struct soft_private *) mr->dpvt;
if (interruptAccept != TRUE)
return;
return;
newrdbl = newrdbl / mr->mres;
mr->rmp = NINT(newrdbl);
Debug(5, "soft_rdbl_func(): updated RMP = %d for %s.\n", mr->rmp, mr->name);
if (ptr->initialized == false)
{
/* Reset Target to Actual position. */
unsigned short mask = (DBE_VALUE | DBE_LOG);
/* Reset Target to Actual position. */
unsigned short mask = (DBE_VALUE | DBE_LOG);
mr->dmov = FALSE;
db_post_events(mr, &mr->dmov, mask);
mr->pp = TRUE;
db_post_events(mr, &mr->pp, mask);
mr->dmov = FALSE;
db_post_events(mr, &mr->dmov, mask);
mr->pp = TRUE;
db_post_events(mr, &mr->pp, mask);
ptr->dinp_value = DONE;
ptr->initialized = true;
}
ptr->dinp_value = DONE;
ptr->initialized = true;
}
soft_process(mr);
}
/*
FUNCTION... static void soft_process(struct motorRecord *)
USAGE... Process the soft channel motor record.
USAGE... Process the soft channel motor record.
LOGIC...
Lock soft channel record - call dbScanLock().
Set call back flag to CALLBACK_DATA so readback will get updated.
Process soft channel record - call process().
Unlock soft channel record - call dbScanUnlock().
Lock soft channel record - call dbScanLock().
Set call back flag to CALLBACK_DATA so readback will get updated.
Process soft channel record - call process().
Unlock soft channel record - call dbScanUnlock().
*/
static void soft_process(struct motorRecord *mr)
@@ -309,7 +311,7 @@ static void soft_process(struct motorRecord *mr)
dbScanLock((struct dbCommon *) mr);
ptr->callback_flag = CALLBACK_DATA;
dbProcess((struct dbCommon *) mr); /* Process the soft channel record. */
dbProcess((struct dbCommon *) mr); /* Process the soft channel record. */
ptr->callback_flag = NOTHING_DONE;
dbScanUnlock((struct dbCommon *) mr);
}
@@ -317,8 +319,8 @@ static void soft_process(struct motorRecord *mr)
/*
FUNCTION... void soft_motor_callback(CALLBACK *)
USAGE... Process motor record after the following events:
- LOAD_POS motor command.
USAGE... Process motor record after the following events:
- LOAD_POS motor command.
LOGIC...
*/
motorApp/SoftMotorSrc/devSoftAux.cc
+64 -69
View File
@@ -1,6 +1,6 @@
/*
FILENAME... devSoftAux.cc
USAGE... Motor record device level support for Soft channel.
FILENAME... devSoftAux.cc
USAGE... Motor record device level support for Soft channel.
Version: $Revision$
Modified By: $Author$
@@ -28,7 +28,7 @@ HeadURL: $URL$
* -----------------
* .01 06-16-03 rls Convert to R3.14.x.
* .02 12-14-04 rls With EPICS R3.14.7 changes to epicsThread.h, need explicit
* #include <stdlib.h>
* #include <stdlib.h>
* .03 2006-04-10 pnd Convert to linked lists to remove arbitrary maximum
*/
@@ -52,7 +52,7 @@ in the same file; each defines (redefines) the DBR's.
#include "motor.h"
#include "devSoft.h"
#define STATIC static
#define STATIC static
STATIC void soft_dinp(struct event_handler_args);
STATIC void soft_rdbl(struct event_handler_args);
@@ -84,38 +84,38 @@ long soft_init(void *after)
if (before_after == 0)
{
epicsThreadId dbCaTask_tid;
unsigned int soft_motor_priority;
int retry = 0;
epicsThreadId dbCaTask_tid;
unsigned int soft_motor_priority;
int retry = 0;
soft_motor_sem = epicsEventCreate(epicsEventEmpty);
ellInit(&soft_motor_list);
ellInit(&soft_motor_list);
/*
* Fix for DMOV processing before the last DRBV update; i.e., lower
* the priority of the "soft_motor" task below the priority of the
* "dbCaLink" task.
*/
while((dbCaTask_tid = epicsThreadGetId("dbCaLink")) == 0 && retry < 10)
{
epicsThreadSleep(0.1);
retry++;
}
/*
* Fix for DMOV processing before the last DRBV update; i.e., lower
* the priority of the "soft_motor" task below the priority of the
* "dbCaLink" task.
*/
while((dbCaTask_tid = epicsThreadGetId("dbCaLink")) == 0 && retry < 10)
{
epicsThreadSleep(0.1);
retry++;
}
if (dbCaTask_tid == 0)
{
errMessage(0, "cannot find dbCaLink task.");
return(ERROR);
}
soft_motor_priority = epicsThreadGetPriority(dbCaTask_tid);
soft_motor_priority -= 1;
if (dbCaTask_tid == 0)
{
errMessage(0, "cannot find dbCaLink task.");
return(ERROR);
}
soft_motor_priority = epicsThreadGetPriority(dbCaTask_tid);
soft_motor_priority -= 1;
soft_motor_id = epicsThreadCreate((char *) "soft_motor", soft_motor_priority,
soft_motor_id = epicsThreadCreate((char *) "soft_motor", soft_motor_priority,
epicsThreadGetStackSize(epicsThreadStackBig),
(EPICSTHREADFUNC) soft_motor_task, NULL);
(EPICSTHREADFUNC) soft_motor_task, NULL);
}
else
epicsEventSignal(soft_motor_sem); /* Start soft_motor_task(). */
epicsEventSignal(soft_motor_sem); /* Start soft_motor_task(). */
return(OK);
}
@@ -129,12 +129,11 @@ long soft_init_record(void *arg)
int status = 0;
list_entry = (struct motor_node *) malloc(sizeof(struct motor_node));
if (!list_entry) {
return(ERROR);
}
if (!list_entry)
return(ERROR);
list_entry->pmr = mr;
ellAdd(&soft_motor_list, (ELLNODE*)list_entry);
ellAdd(&soft_motor_list, (ELLNODE*) list_entry);
/* Allocate space for private field. */
mr->dpvt = (struct soft_private *) malloc(sizeof(struct soft_private));
@@ -143,8 +142,7 @@ long soft_init_record(void *arg)
ptr->initialized = false;
cbptr = &ptr->callback;
callbackSetCallback((void (*)(struct callbackPvt *)) soft_motor_callback,
cbptr);
callbackSetCallback((void (*)(struct callbackPvt *)) soft_motor_callback, cbptr);
callbackSetPriority(priorityMedium, cbptr);
callbackSetUser(mr, cbptr);
return ((long) status);
@@ -158,44 +156,41 @@ STATIC EPICSTHREADFUNC soft_motor_task(void *parm)
chid dinp, rdbl, rinp;
epicsEventId wait_forever;
epicsEventWait(soft_motor_sem); /* Wait for dbLockInitRecords() to execute. */
SEVCHK(ca_context_create(ca_enable_preemptive_callback),
"soft_motor_task: ca_context_create() error");
epicsEventWait(soft_motor_sem); /* Wait for dbLockInitRecords() to execute. */
SEVCHK(ca_context_create(ca_enable_preemptive_callback), "soft_motor_task: ca_context_create() error");
while ((node = (struct motor_node *)ellGet(&soft_motor_list)))
while ((node = (struct motor_node *) ellGet(&soft_motor_list)))
{
struct soft_private *ptr;
struct soft_private *ptr;
mr = node->pmr;
free(node);
mr = node->pmr;
free(node);
ptr = (struct soft_private *) mr->dpvt;
if (mr->dinp.value.constantStr == NULL)
{
ptr->default_done_behavior = true;
}
else
{
ptr->default_done_behavior = false;
SEVCHK(ca_search(mr->dinp.value.pv_link.pvname, &dinp),
"ca_search() failure");
SEVCHK(ca_add_event(DBR_SHORT, dinp, soft_dinp, mr, NULL),"ca_add_event() failure");
SEVCHK(ca_pend_io((float) 5.0), "DINP link failure");
}
ptr = (struct soft_private *) mr->dpvt;
if (mr->dinp.value.constantStr == NULL)
ptr->default_done_behavior = true;
else
{
ptr->default_done_behavior = false;
SEVCHK(ca_search(mr->dinp.value.pv_link.pvname, &dinp),
"ca_search() failure");
SEVCHK(ca_add_event(DBR_SHORT, dinp, soft_dinp, mr, NULL),"ca_add_event() failure");
SEVCHK(ca_pend_io((float) 5.0), "DINP link failure");
}
if (mr->urip != 0)
{
SEVCHK(ca_search(mr->rdbl.value.pv_link.pvname, &rdbl),"ca_search() failure");
SEVCHK(ca_add_event(DBR_DOUBLE, rdbl, soft_rdbl, mr, NULL),"ca_add_event() failure");
SEVCHK(ca_pend_io((float) 5.0), "RDBL link failure");
}
if (mr->urip != 0)
{
SEVCHK(ca_search(mr->rdbl.value.pv_link.pvname, &rdbl),"ca_search() failure");
SEVCHK(ca_add_event(DBR_DOUBLE, rdbl, soft_rdbl, mr, NULL),"ca_add_event() failure");
SEVCHK(ca_pend_io((float) 5.0), "RDBL link failure");
}
if (mr->rinp.value.constantStr != NULL)
{
SEVCHK(ca_search(mr->rinp.value.pv_link.pvname, &rinp),"ca_search() failure");
SEVCHK(ca_add_event(DBR_LONG, rinp, soft_rinp, mr, NULL),"ca_add_event() failure");
SEVCHK(ca_pend_io((float) 5.0), "RINP link failure");
}
if (mr->rinp.value.constantStr != NULL)
{
SEVCHK(ca_search(mr->rinp.value.pv_link.pvname, &rinp),"ca_search() failure");
SEVCHK(ca_add_event(DBR_LONG, rinp, soft_rinp, mr, NULL),"ca_add_event() failure");
SEVCHK(ca_pend_io((float) 5.0), "RINP link failure");
}
}
ellFree(&soft_motor_list);
@@ -203,9 +198,9 @@ STATIC EPICSTHREADFUNC soft_motor_task(void *parm)
thread, so as not to show up in the thread list as "SUSPENDED", which
is usually a sign of a fault. */
wait_forever = epicsEventCreate(epicsEventEmpty);
if (wait_forever) {
epicsEventMustWait(wait_forever);
}
if (wait_forever)
epicsEventMustWait(wait_forever);
return(NULL);
}